Stable Fuzzy Controller Design for a Nonlinear Helicopter Model

In this paper, a method for designing a stable fuzzy controller for nonlinear systems with the ability of reference tracking is introduced. First, the nonlinear equations of model helicopter is presented which is modeled by Humusoft Inc. based on linearization around system operating points, a T-S fuzzy model is represented. Then, based on state feedback a T-S fuzzy controller is developed, which its stability is guaranteed by nonlinear matrix Inequalities (LMI). These inequalities are solved using convex optimization methods by means of Matlab and LMI toolbox. In the following, tracking problem, control signal constraints are discussed.